Design and Test Validation of Humanoid Tripod-Based Limbs

A tripod-based design with linear actuators is presented with features and performance suitable for humanoid limbs as based on a tripod mechanism architecture. Design compact solutions are developed for arm and leg structures with low-cost Arduino-based controlled operation and market components for a revised version of LARMbot humanoid robot. A general design is then specified in an arm structure with a gripper on a wrist joint and in a leg structure with a foot on an ankle joint. Performance characteristics are characterized in lab tests with suitable large motion range, high payload capacity, and limited power consumption.